A Beginner's Guide to 6-D Vectors (Part 2) Tutorial

Spatial vectors are six-dimensional (6-D) vectors that describe the motions of rigid bodies and the forces acting upon them. In Part 1, we saw how spatial vectors can simplify the process of expressing and analyzing the dynamics of a simple rigid-body system. In this tutorial, we shall examine the a...

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Bibliographic Details
Published in:IEEE robotics & automation magazine 2010-12, Vol.17 (4), p.88-99
Main Author: Featherstone, Roy
Format: Article
Language:English
Subjects:
Dynamical systems
Dynamics
Mathematical analysis
Mathematical models
Rigid-body dynamics
Robots
Vectors (mathematics)
Online Access:Get full text
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Summary:Spatial vectors are six-dimensional (6-D) vectors that describe the motions of rigid bodies and the forces acting upon them. In Part 1, we saw how spatial vectors can simplify the process of expressing and analyzing the dynamics of a simple rigid-body system. In this tutorial, we shall examine the application of spatial vectors to various problems in robot kinematics and dynamics. To demonstrate that spatial vectors are both a tool for analysis and a tool for computation, we shall consider both the mathematical solution of a problem and the computer code to calculate the answer.
ISSN:1070-9932
DOI:10.1109/MRA.2010.939560